CN202345802U - Bionic obstacle crossing detection vehicle - Google Patents
Bionic obstacle crossing detection vehicle Download PDFInfo
- Publication number
- CN202345802U CN202345802U CN2011203502887U CN201120350288U CN202345802U CN 202345802 U CN202345802 U CN 202345802U CN 2011203502887 U CN2011203502887 U CN 2011203502887U CN 201120350288 U CN201120350288 U CN 201120350288U CN 202345802 U CN202345802 U CN 202345802U
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- China
- Prior art keywords
- connecting rod
- motor
- shaft
- bevel gear
- axle sleeve
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The utility model discloses a bionic obstacle crossing detection vehicle, which consists of an obstacle crossing system and a detection system, wherein a first bracket and a second bracket are fixed on a box body of the obstacle crossing system; a storage battery and a circuit board are arranged in two sides of the box body respectively; connecting rods are connected to the brackets through second connecting rod shaft sleeves and pin shafts; one end of a connection swing rod is movably connected to the connecting rods, and the other end of the connection swing rod is supported on a middle tire; motors are connected with wheels through motor shafts, clamping springs and first connecting rod shaft sleeves; the front part of the box body is connected with a steering motor through a first connecting rod, a second connecting rod and a third connecting rod; and the motors are connected with a tire frame through the motor shafts, bearings, the clamping springs and gaskets. A probe is fixedly arranged at the front end of a direct current stepping motor of the detection system; the motors are movably connected with a straight-teeth cone gear; an angle-inclined connecting rod is connected with the direct current stepping motor and one shaft sleeve; a motor connecting rod is connected with the other shaft sleeve through a screw; and a plurality of the structures are combined to form a trunk-shaped structure fixed on the box body through a first bevel gear shaft, a second bevel gear shaft and an angle inclined seat.
Description
Technical field
The utility model relates to a kind of car detecting technique, and is particularly a kind of under complicated ground type situation, the bionical obstacle detouring probe vehicles that can carry out multi-faceted detection to environment.
Background technology
Though the crawler type search and rescue robot of development has stronger obstacle climbing ability both at home and abroad at present; But the ability that volume is excessive, complex structure, shortage are surveyed small space; Though and wheeled search and rescue robot can be surveyed small space; But complex structure, do not possess obstacle climbing ability, lack detectability yet each orientation of required acquisition environment.
Summary of the invention
The purpose of the utility model is to overcome the above-mentioned deficiency of prior art and a kind of simple in structure, bionical obstacle detouring probe vehicles of having strong obstacle climbing ability, can carrying out comprehensive detection to small space is provided.
The technical scheme of the utility model is: a kind of bionical obstacle detouring probe vehicles, form by obstacle detouring system and detection system, wherein:
Be fixed with first support, second support on the casing of obstacle detouring system; Inside, casing both sides is equipped with storage battery, circuit card respectively; Connecting rod is attached on the support through second connecting rod axle sleeve, bearing pin, connects fork one end and is movably connected in that the other end is supported on the tire of middle part on the connecting rod, and motor is connected wheel through motor shaft, jump ring with the first connecting rod sleeve; Four wheels in middle part all drive with independent motor; Casing is anterior to connect steer motor through first connecting rod, second connecting rod, third connecting rod, and spring connects first connecting rod, second connecting rod, and first connecting rod, third connecting rod flexibly connect with pin; Motor is connected with tire dolly through motor shaft, bearing, jump ring, pad, and tire dolly and track adjusting wheel flexibly connect.
The front end of the dc stepper motor of detection system fixedly is equipped with detecting head; Motor flexibly connects spur bevel gear; The angle diagonal control arm connects dc stepper motor and axle sleeve; Motor connection lever links to each other with another axle sleeve through screw, and a plurality of said structures are connected, and the trunk type structure of formation is returned through the oblique seat in first bevel gear shaft, middle tap gear wheel shaft and angle and fixed on the casing.
Described first parallelogram linkage comprises two the 4th connecting rods, two forks, adopts hinge to be connected between the 4th connecting rod and the fork.Two the 4th connecting rod midways location fix on the probe vehicles railway carriage through hinges fixing, and connecting rod can rotate around hinge-point.
The oblique mechanism in described two-freedom angle is made up of dc stepper motor, angle diagonal control arm, axle sleeve, first bevel gear shaft, middle tap gear wheel shaft and spur bevel gear, is 45 ° of angles between first bevel gear shaft and the axle sleeve.
When current side drive wheel contacted with obstacle, by second parallelogram linkage and spring bulk deformation that first connecting rod, second connecting rod, third connecting rod are formed, front-wheel formed effective passive obstacle detouring, and trailing wheel still contacts with ground and promotes car body forward; Behind the front-wheel clear an obstacle, promptly change into drive wheel, drive trailing wheel climbing obstacle.Because second parallelogram connection-rod is met the barrier deflection distortion, has reduced body gravity rise height and degree of dip, can realize steady obstacle detouring.
The utility model compared with prior art has following characteristics:
The utility model has strong obstacle climbing ability, the crank assemblies in the double crank barrier getting over mechanism owing to adopt above structure; Can the upwards scope of bigger motion be provided to front jockey wheel; The front and back wheel separate electrical motor drives, and has increased the maneuvering performance of bionical barrier-exceeding vehicle, can survey small space; The detecting structure of trunk type can be surveyed all orientation neatly.
Further describe below in conjunction with accompanying drawing and the specific embodiment detailed structure the utility model.
Description of drawings
Accompanying drawing 1 is the utility model integral installation figure;
Accompanying drawing 2 is the birds-eye view in the accompanying drawing 1.
The specific embodiment
A kind of bionical obstacle detouring probe vehicles is made up of obstacle detouring system and detection system, wherein: a kind of bionical obstacle detouring probe vehicles, form by obstacle detouring system and detection system, wherein:
Be fixed with first support 10, second support 29 on the casing 12 of obstacle detouring system; Inside, casing 12 both sides is equipped with storage battery 30, circuit card 31 respectively, and connecting rod 11 is attached on the support 29 through second connecting rod axle sleeve 21, bearing pin 22, connects fork 32 1 ends and is movably connected on the connecting rod 11; The other end is supported on the tire 9 of middle part; Motor 37 is connected wheel 9 through motor shaft 26, jump ring 28 with first connecting rod sleeve 20, and four wheels in middle part all drive with independent motor, and casing is anterior to connect steer motor 17 through first connecting rod 13, second connecting rod 15, third connecting rod 16; Spring 14 connects first connecting rod 13, second connecting rod 15; First connecting rod 13, third connecting rod 16 usefulness pin 36 flexibly connect, and motor 17 is connected with tire dolly 18 through motor shaft 35, bearing 24, jump ring 25, pad 23, and tire dolly 18 flexibly connects with track adjusting wheel 19.
The front end of the dc stepper motor 1 of detection system fixedly is equipped with detecting head 37; Motor 1 flexibly connects spur bevel gear 7; Angle diagonal control arm 2 connects dc stepper motor 1 and axle sleeve 3; Motor connection lever 4 links to each other with another axle sleeve 8 through screw 5,6, and a plurality of said structures are connected, and the trunk type structure of formation tiltedly fixes on the casing 12 through first bevel gear shaft 33, middle tap gear wheel shaft 34 and angle 27 time.
Described first parallelogram linkage comprises two the 4th connecting rods 11, two forks 32, adopts hinge to be connected between connecting rod 11 and the fork 32.Two connecting rod 11 midways location fix on the probe vehicles railway carriage 12 through hinges fixing, and connecting rod 11 can rotate around hinge-point.
The oblique mechanism in described two-freedom angle is made up of dc stepper motor 1, angle diagonal control arm 2, axle sleeve 3, first bevel gear shaft 33, middle tap gear wheel shaft 34 and spur bevel gear 7, is 45 ° of angles between first bevel gear shaft 33 and the axle sleeve 8.
When current side drive wheel contacts with obstacle; Second parallelogram linkage and spring 14 bulk deformations formed by first connecting rod 13, second connecting rod 15, third connecting rod 16; Front-wheel 19 forms effective passive obstacle detouring, and trailing wheel 38 still contacts with ground and promotes car body forward; Behind front-wheel 19 clear an obstacles, promptly change into drive wheel, drive trailing wheel 38 climbing obstacles.Because second parallelogram linkage is met the barrier deflection distortion, has reduced body gravity rise height and degree of dip, can realize steady obstacle detouring.
Claims (3)
1. bionical obstacle detouring probe vehicles is characterized in that: forms by obstacle detouring system and detection system, wherein:
Be fixed with first support, second support on the casing of obstacle detouring system; Inside, casing both sides is equipped with storage battery, circuit card respectively, and connecting rod is attached on the support through second connecting rod axle sleeve, bearing pin, connects fork one end and is movably connected on the connecting rod; The other end is supported on the tire of middle part; Motor is connected wheel through motor shaft, jump ring with the first connecting rod sleeve, and four wheels in middle part all drive with independent motor, and casing is anterior to connect steer motor through first connecting rod, second connecting rod, third connecting rod; Spring connects first connecting rod, second connecting rod; First connecting rod, third connecting rod flexibly connect with pin, and motor is connected with tire dolly through motor shaft, bearing, jump ring, pad, and tire dolly and track adjusting wheel flexibly connect;
The front end of the dc stepper motor of detection system fixedly is equipped with detecting head; Motor flexibly connects spur bevel gear; The angle diagonal control arm connects dc stepper motor and axle sleeve; Motor connection lever links to each other with another axle sleeve through screw, and a plurality of said structures are connected, and the trunk type structure of formation is returned through the oblique seat in first bevel gear shaft, middle tap gear wheel shaft and angle and fixed on the casing.
2. a kind of bionical obstacle detouring probe vehicles according to claim 1; It is characterized in that: first parallelogram linkage comprises two the 4th connecting rods, two forks; Adopt hinge to be connected between connecting rod and the fork; Two connecting rod midways location fix on the probe vehicles railway carriage through hinges fixing, and connecting rod can rotate around hinge-point.
3. a kind of bionical obstacle detouring probe vehicles according to claim 1 and 2; It is characterized in that: the oblique mechanism in two-freedom angle is made up of dc stepper motor, angle diagonal control arm, axle sleeve, first bevel gear shaft, middle tap gear wheel shaft and spur bevel gear, is 45 ° of angles between first bevel gear shaft and the axle sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203502887U CN202345802U (en) | 2011-09-19 | 2011-09-19 | Bionic obstacle crossing detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203502887U CN202345802U (en) | 2011-09-19 | 2011-09-19 | Bionic obstacle crossing detection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202345802U true CN202345802U (en) | 2012-07-25 |
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ID=46534823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203502887U Expired - Fee Related CN202345802U (en) | 2011-09-19 | 2011-09-19 | Bionic obstacle crossing detection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202345802U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386158A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Series elastic actuator-based quadruped robot |
-
2011
- 2011-09-19 CN CN2011203502887U patent/CN202345802U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386158A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Series elastic actuator-based quadruped robot |
| CN104386158B (en) * | 2014-11-17 | 2016-08-17 | 河北工业大学 | A kind of quadruped robot based on series elastic driver |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20120919 |